diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
index 54a3945e0c6..1b344986866 100644
--- a/.github/workflows/BuildAndRun.yaml
+++ b/.github/workflows/BuildAndRun.yaml
@@ -68,7 +68,7 @@ jobs:
       - name: Resolve rosdep and install colcon mixin
         run: |
           apt-get update
-          apt-get install -y python3-pip python3-colcon-lcov-result lcov unzip
+          apt-get install -y python3-pip python3-colcon-lcov-result lcov unzip gcovr
           rosdep update --include-eol-distros
           rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }}
           colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
@@ -84,7 +84,14 @@ jobs:
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
           build-wrapper-linux-x86-64 --out-dir src/scenario_simulator_v2/bw-output \
-          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} -DBUILD_CPP_MOCK_SCENARIOS=ON -DBUILD_TESTING=true -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage' --packages-up-to ${{ steps.list_packages.outputs.package_list }}
+          colcon build --symlink-install \
+          --cmake-args \
+            -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} \
+            -DBUILD_CPP_MOCK_SCENARIOS=ON \
+            -DBUILD_TESTING=true \
+            -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' \
+            -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage' \
+            --packages-up-to ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
       - name: Colcon test
@@ -95,14 +102,8 @@ jobs:
           colcon lcov-result --packages-select ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
-      - name: Collect and run gcov on coverage data
-        run: |
-          mkdir -p ./gcov && \
-          find ./build -name "*.gcda" -o -name "*.gcno" | \
-          while read -r line; do \
-            gcov -o $(dirname "$line") $(echo "$line" | sed 's/\.gcda$/.cpp/;s/\.gcno$/.cpp/;s/\.gcda$/.hpp/;s/\.gcno$/.hpp/'); \
-          done && mv *.gcov ./gcov/
-    
+      - name: generate gcov report for sonarcloud
+        run: gcovr -r src/scenario_simulator_v2 build --sonarqube coverage.xml
 
       - name: Show test result
         if: always()
@@ -126,6 +127,13 @@ jobs:
           path: lcov
           retention-days: 1
 
+      - name: Upload Gcov result
+        uses: actions/upload-artifact@v4
+        with:
+          name: coverage${{ matrix.cmake_build_type }}.xml
+          path: coverage.xml
+          retention-days: 1
+
       - name: Run SonarCloud scan
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/custom_spell.json b/.github/workflows/custom_spell.json
index c9c0c5841a9..676f628922b 100644
--- a/.github/workflows/custom_spell.json
+++ b/.github/workflows/custom_spell.json
@@ -18,6 +18,7 @@
     "euclidian",
     "gcda",
     "gcno",
+    "gcovr",
     "libunwind",
     "linelint",
     "Mersenne",
@@ -37,6 +38,8 @@
     "pyproject",
     "randomizer",
     "randomizers",
+    "sonarcloud",
+    "sonarqube",
     "subspline",
     "TESTRANDOMIZER",
     "travelling",
diff --git a/sonar-project.properties b/sonar-project.properties
index f7a0a900525..edeb3632e2a 100644
--- a/sonar-project.properties
+++ b/sonar-project.properties
@@ -12,5 +12,5 @@ sonar.exclusions=**/test/**,**/mock/**
 # Encoding of the source code. Default is default system encoding
 sonar.sourceEncoding=UTF-8
 
-#~/scenario_simulator_ws/gcov
-sonar.cfamily.gcov.reportsPath=../../gcov/
+#~/scenario_simulator_ws/coverage.xml
+sonar.coverageReportPaths=../../coverage.xml